测量物体的间距

这段代码是一个图像处理脚本，用于在图像中检测和测量特定对象的特征，例如在机器视觉系统中测量物体的间距。具体来说，它试图在图像中找到并测量一组线（例如，可能是物体上的刻度线或标记），并将这些线的位置从图像坐标转换到实际的度量单位（毫米）

dev_close_window ()

• Read the image and init the program.
  read_image (ImageOrig, ‘caliper/caliper_1’)
  rotate_image (ImageOrig, Image, 90, ‘constant’)
  get_image_size (Image, Width, Height)
  dev_open_window_fit_image (Image, 0, 0, 640, 640, WindowHandle)
  set_display_font (WindowHandle, 16, ‘mono’, ‘true’, ‘false’)
  dev_display (Image)
• Define the rectangle within which the lines must be determined.
  Row := 370
  Column := 305
  Phi := rad(-101)
  Length1 := 220
  Length2 := 3
• Create the measure and determine the gray value profile.
  gen_measure_rectangle2 (Row, Column, Phi, Length1, Length2, Width, Height, ‘bilinear’, MeasureHandle)
  measure_projection (Image, MeasureHandle, GrayValues)
• Onedimensional line extraction
• First, smooth the gray value profile and determine the first and second derivative.
  Sigma := 0.3
  create_funct_1d_array (GrayValues, Function)
  smooth_funct_1d_gauss (Function, Sigma, SmoothedFunction)
  derivate_funct_1d (SmoothedFunction, ‘first’, FirstDerivative)
  derivate_funct_1d (SmoothedFunction, ‘second’, SecondDerivative)
• Determine the positions of the zero crossings of the first derivative, i.e.,
• the positions at which the (smoothed) gray value profile has minima and maxima.
  zero_crossings_funct_1d (FirstDerivative, ZeroCrossings)
• Select the positions of those minima (i.e., positions at which the second derivative is positive)
• where the smoothed gray value profile has a high curvature, i.e., where the second derivative
• has a large absolute value. This criterion ensures that only salient lines are selected.
  MinimumMagnitudeOfSecondDerivative := 8
  PositionOfSalientLine := []
  for i := 0 to |ZeroCrossings| - 1 by 1
  get_y_value_funct_1d (SecondDerivative, ZeroCrossings[i], ‘constant’, Y)
  if (Y > MinimumMagnitudeOfSecondDerivative)
  PositionOfSalientLine := [PositionOfSalientLine,ZeroCrossings[i]]
  endif
  endfor
• Determine the image coordinates from the profile positions.
• Note that internally, the center of the measure ROI is set to (floor(Row+0.5), floor(Column+0.5))
• and the lengths are set to floor(Length1) and floor(Length2).
  RowStart := floor(Row + 0.5) + floor(Length1) * sin(Phi)
  ColStart := floor(Column + 0.5) - floor(Length1) * cos(Phi)
  RowLine := RowStart - PositionOfSalientLine * sin(Phi)
  ColLine := ColStart + PositionOfSalientLine * cos(Phi)
• Display the determined lines.
  dev_display (Image)
  p_disp_edge_marker (RowLine, ColLine, Phi, Length2, ‘black’, 5)
  p_disp_edge_marker (RowLine, ColLine, Phi, Length2, ‘white’, 3)
  disp_message (WindowHandle, ‘Determined pitch lines’, ‘window’, -1, -1, ‘black’, ‘true’)
  disp_continue_message (WindowHandle, ‘black’, ‘true’)
  stop ()
• Display a zoomed part of the above visualization.
  dev_open_window_fit_size (0, Width + 10, Width, Height, 640, 640, WindowHandleZoom)
  RowZoomCenter := int((RowLine[3] + RowLine[4]) / 2)
  ColZoomCenter := int((ColLine[3] + ColLine[4]) / 2)
  dev_set_part (RowZoomCenter - Height / 20, ColZoomCenter - Width / 20, RowZoomCenter + Height / 20, ColZoomCenter + Width / 20)
  dev_display (Image)
  p_disp_edge_marker (RowLine, ColLine, Phi, Length2, ‘black’, 5)
  p_disp_edge_marker (RowLine, ColLine, Phi, Length2, ‘white’, 3)
  disp_continue_message (WindowHandle, ‘black’, ‘true’)
  stop ()
  dev_close_window ()
• Transform the image coordinates into a metric coordinate system.
• Here, the camera parameters and the pose of the object are assumed
• to be known. If this is not the case, the camera parameter and the pose
• must be determined with HALCON’s camera calibration (see, e.g., the
• Application Note on 3D Machine Vision).
  CamParam := [0.00846,-2591.63,7.2956e-6,7.3e-6,240.74,334.91,Width,Height]
  WorldPose := [-0.100432,-0.051077,0.257936,323.234,4.615,0.229,0]
  image_points_to_world_plane (CamParam, WorldPose, RowLine, ColLine, ‘mm’, X, Y)
• Now, e.g., the distances between the measured lines can be calculated.
  Num := |X|
  distance_pp (X[0:Num - 2], Y[0:Num - 2], X[1:Num - 1], Y[1:Num - 1], Distance)
• Display the distances.
  for i := 0 to |Distance| - 1 by 1
  disp_message (WindowHandle, Distance[i]$‘5.2f’ + ’ mm’, ‘image’, (RowLine[i] + RowLine[i + 1]) / 2 - 8, (ColLine[i] + ColLine[i + 1]) / 2 + 15, ‘white’, ‘false’)
  endfor
  disp_message (WindowHandle, ‘Determined pitch lines’, ‘window’, -1, -1, ‘black’, ‘true’)
• Close the measure.
  close_measure (MeasureHandle)

以下是检测结果

以下是代码的主要步骤和功能：

图像读取和初始化：

read_image 读取原始图像。
rotate_image 将图像旋转9度。
get_image_size 获取图像的尺寸。
窗口设置：

dev_open_window_fit_image 根据图像尺寸打开显示窗口。
set_display_font 设置显示窗口中的字体。
定义测量区域：

定义矩形区域，其中包含需要检测的线。
创建测量对象和灰度值分析：

gen_measure_rectangle2 创建测量对象。
measure_projection 测量图像在指定区域的灰度值。
一维线提取：

通过高斯平滑和求导来处理灰度值，以便于检测线的位置。
零交叉检测：

zero_crossings_funct_1d 检测一阶导数的零交叉点，这些点是灰度值变化的极值点。
选择显著线：

选择具有高曲率的极小值点，这些点对应于图像中的显著线。
图像坐标转换：

将从灰度值分析中得到的线的位置转换为图像坐标。
显示结果：

dev_display 显示原始图像。
p_disp_edge_marker 在图像上标记检测到的线的位置。
放大显示：

显示图像的一部分，以放大显示检测到的线。
坐标转换：

image_points_to_world_plane 将图像坐标转换为实际的度量单位（毫米）。
计算距离：

distance_pp 计算检测到的线之间的距离。
显示距离：

在图像上显示计算得到的距离。
关闭测量：

close_measure 关闭测量对象，释放资源。
这段代码解决了在图像中自动检测和测量线的问题，并将这些线的位置从像素坐标转换为实际的物理尺寸。这在工业自动化、质量控制和机器视觉领域中非常有用，例如在生产线上测量产品尺寸或检查产品是否符合规格。通过自动化这些测量过程，可以提高效率、减少人为错误，并确保产品质量。